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libcamera: dw100_vertexmap: Implement parametric dewarping

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Implement functions to allow lens dewarping based on the common lens
dewarp model used e.g. by OpenCV.

See https://docs.opencv.org/4.12.0/d9/d0c/group__calib3d.html for an
in depth explanation of the parameters.

Signed-off-by: Stefan Klug <stefan.klug@ideasonboard.com>
Reviewed-by: Paul Elder <paul.elder@ideasonboard.com>
Reviewed-by: Kieran Bingham <kieran.bingham@ideasonboard.com>
This commit is contained in:
Stefan Klug
2025-11-25 17:28:36 +01:00
parent 4b9251fa70
commit 1784e08be3
2 changed files with 108 additions and 6 deletions
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include/libcamera/internal/converter/converter_dw100_vertexmap.h
+16
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@@ -17,6 +17,9 @@
#include <libcamera/geometry.h>
#include <libcamera/transform.h>
#include "libcamera/internal/matrix.h"
#include "libcamera/internal/vector.h"
namespace libcamera {
class Dw100VertexMap
@@ -57,9 +60,17 @@ public:
void setMode(const ScaleMode mode) { mode_ = mode; }
ScaleMode mode() const { return mode_; }
int setDewarpParams(const Matrix<double, 3, 3> &cm, const Span<const double> &coeffs);
bool dewarpParamsValid() { return dewarpParamsValid_; }
void setLensDewarpEnable(bool enable) { lensDewarpEnable_ = enable; }
bool lensDewarpEnable() { return lensDewarpEnable_; }
std::vector<uint32_t> getVertexMap();
private:
Vector<double, 2> dewarpPoint(const Vector<double, 2> &p);
Rectangle scalerCrop_;
Rectangle sensorCrop_;
Transform transform_ = Transform::Identity;
@@ -73,6 +84,11 @@ private:
double effectiveScaleY_;
Point effectiveOffset_;
Rectangle effectiveScalerCrop_;
Matrix<double, 3, 3> dewarpM_ = Matrix<double, 3, 3>::identity();
std::array<double, 12> dewarpCoeffs_;
bool lensDewarpEnable_ = true;
bool dewarpParamsValid_ = false;
};
} /* namespace libcamera */